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Human-robot interaction is becoming an interesting area of research in cognitive science, notably, for the study of social cognition. Interaction theorists consider primary intersubjectivity a non-mentalist, pre-theoretical, non-conceptual…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…
Biological systems exhibit a continuous stream of movements, consisting of sequential segments, that allow them to perform complex tasks in a creative and versatile fashion. This observation has led researchers towards identifying…
In our everyday lives we are accustomed to partake in complex, personalized, adaptive interactions with our peers. For a social robot to be able to recreate this same kind of rich, human-like interaction, it should be aware of our needs and…
Human-robot interaction benefits greatly from multimodal sensor inputs as they enable increased robustness and generalization accuracy. Despite this observation, few HRI methods are capable of efficiently performing inference for multimodal…
End-user programming (EUP) tools must balance user control with the robot's ability to plan and act autonomously. Many existing task-oriented EUP tools enforce a specific level of control, e.g., by requiring that users hand-craft detailed…
We describe an ongoing project in learning to perform primitive actions from demonstrations using an interactive interface. In our previous work, we have used demonstrations captured from humans performing actions as training samples for a…
End-user development allows everyday users to tailor service robots or applications to their needs. One user-friendly approach is natural language programming. However, it encounters challenges such as an expansive user expression space and…
Human-robot collaboration is on the rise. Robots need to increasingly improve the efficiency and smoothness with which they assist humans by properly anticipating a human's intention. To do so, prediction models need to increase their…
While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…
This paper introduces a prototype for a new approach to assistive robotics, integrating edge computing with Natural Language Processing (NLP) and computer vision to enhance the interaction between humans and robotic systems. Our proof of…
As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper introduces a movement-centered design…
Our goal is to enable social robots to interact autonomously with humans in a realistic, engaging, and expressive manner. The 12 Principles of Animation are a well-established framework animators use to create movements that make characters…
Accessibility is one of the most important features in the design of robots and their interfaces. This thesis proposes methods that improve the accessibility of robots for three different target audiences: consumers, researchers, and…
Nonverbal behaviors such as posture, gestures, and gaze are essential for conveying internal states, both consciously and unconsciously, in human interaction. For robots to interact more naturally with humans, robot movement design should…
Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space…
The need for customizable properties in autonomous robotic platforms, such as in-home nursing care for the elderly and parallel implementations of human-to-machine control interfaces creates an opportunity to introduce methods deploying…
The remote human operator's user interface (UI) is an important link to make the robot an efficient extension of the operator's perception and action. In rescue applications, several studies have investigated the design of operator…
Zoomorphic robots have the potential to offer companionship and well-being as accessible, low-maintenance alternatives to pet ownership. Many such robots, however, feature limited emotional expression, restricting their potential for rich…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…